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模型推理移至管道末尾降舵机延迟60→16ms + 视觉Mat复用 + 端到端延迟计时 + OpenCV 4.13 + WASD遥控

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spdis
2026-06-29 16:43:41 +08:00
parent 40d5cb1604
commit 017a827b18
16 changed files with 1201 additions and 709 deletions
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lib/global.h
+10 -2
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@@ -12,6 +12,8 @@ const std::string start_file = "./start";
const std::string showImg_file = "./showImg";
const std::string destfps_file = "./destfps";
const std::string foresee_file = "./foresee";
const std::string foresee_lost_scale_file = "./foresee_lost_scale";
const std::string sharp_turn_scale_file = "./sharp_turn_scale";
const std::string zebrasee_file = "./zebrasee";
const std::string saveImg_file = "./saveImg";
const std::string speed_file = "./speed";
@@ -27,6 +29,8 @@ const std::string cone_min_frames_file = "./cone_min_frames";
const std::string cone_margin_file = "./cone_margin";
const std::string cone_thresh_file = "./cone_thresh";
const std::string cone_hold_frames_file = "./cone_hold_frames";
const std::string cone_return_gain_file = "./cone_return_gain";
const std::string cone_return_frames_file = "./cone_return_frames";
const std::string brake_scale_file = "./brake_scale";
const std::string brake_max_file = "./brake_max";
@@ -56,6 +60,8 @@ void cfg_load_all();
struct CfgCache {
double speed = 60; // 目标速度(占空比 %)
double foresee = 80; // 前瞻行
double foresee_lost_scale = 0.7; // 丢线时前瞻缩放 (<1=看更远)
double sharp_turn_scale = 0.5; // 急弯时前瞻缩放 (<1=看更远)
double zebrasee = 60; // 斑马线触发距离阈值
double deadband = 5; // 舵机死区
double steer_gain = 1.0; // 舵机增益
@@ -67,10 +73,12 @@ struct CfgCache {
double cone_avoid_gain = 0.3; // 锥桶中线变形推离量 (归一化)
int cone_avoid_range = 30; // 变形斜坡陡峭度
double cone_speed = 0.5; // 锥桶触发时速度倍率
int cone_min_frames = 3; // 连续确认帧数
int cone_min_frames = 1; // 确认帧数 (1=单帧即确认, 视觉巡线响应快导致检测窗口极短)
int cone_margin = 0; // 0=中心点 1=框边缘
double cone_thresh = 0.80; // 锥桶置信度阈值
int cone_hold_frames = 30; // 锥桶消失后保持变形的帧数
int cone_hold_frames = 15; // 锥桶消失后保持变形的帧数
double cone_return_gain = 1.0; // 回弹力度 (倍乘, 1.0=等同于避让力度)
int cone_return_frames = 30; // 回弹持续帧数
double brake_scale = 10; // 速度(pps) → 刹车占空比(ns) 缩放系数
int brake_max = 10000; // 最大刹车占空比 (ns)